version: 66.07
glider: 127
mission: 6
dive: 4
start: 4 12 111 20 11 41
data:
$ID,127
$MISSION,6
$DIVE,4
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,100
$D_BOOST,4
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,60
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,150
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51911
$NAV_MODE,2
$FERRY_MAX,30
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.083332
$TGT_DEFAULT_LON,5.541666
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-99631.586
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,405
$PITCH_MAX,3720
$C_PITCH,2860
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,152
$ROLL_MAX,3937
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,495
$VBD_MAX,3955
$C_VBD,3062
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.72932279
$PRESSURE_SLOPE,9.1981688e-05
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.84
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,39
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,0
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043796767
$SEABIRD_T_H,0.0006479047
$SEABIRD_T_I,2.756399e-05
$SEABIRD_T_J,3.1320253e-06
$SEABIRD_C_G,-9.9973803
$SEABIRD_C_H,1.1261299
$SEABIRD_C_I,-0.00079766312
$SEABIRD_C_J,0.00013692185
$GPS1,120411,200304,4743.999,-12224.543,12,2.1,31,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-71.9
$GPS2,120411,201032,4744.065,-12224.473,11,2.0,11,18.2
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.144,-0.117
$KALMAN_X,197.3,177.7,38.3,-1403.7,100.2
$KALMAN_Y,186.1,174.0,37.3,1305.6,107.3
$MHEAD_RNG_PITCHd_Wd,213.4,510,-17.5,-10.000
$D_GRID,174
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.76,-146.6,0.0,0.0,0,113,0.00,0.00,-94.57,0.000,2,0.000,0.000,410,1802,3646,0,0,0,0,0,0
$GC,115,-0.76,-146.6,4.2,-9.1,13,141,13.50,2.70,-0.35,0.000,4,0.182,0.103,2687,388,3669,0,0,1,0,0,0
$GC,244,-0.86,-146.6,25.4,-10.1,35,252,0.00,2.58,0.00,0.000,6,0.000,0.074,2687,1790,3672,0,0,0,0,0,0
$GC,318,-0.95,-146.6,31.4,-7.3,48,326,0.15,2.65,0.00,0.000,4,0.095,0.078,2654,3206,3664,0,0,0,0,0,0
$GC,335,-1.03,-146.6,32.6,-6.4,50,344,0.00,2.60,0.00,0.000,6,0.000,0.070,2654,1804,3665,0,0,1,0,0,0
$GC,411,-1.08,-146.6,39.1,-9.2,63,418,0.15,0.00,0.00,0.000,6,0.099,0.000,2623,1804,3664,0,0,0,0,0,0
$GC,483,-1.08,-146.6,46.7,-10.2,76,491,0.00,2.70,0.00,0.000,4,0.000,0.092,2623,391,3672,0,0,0,0,0,0
$GC,499,-1.08,-146.6,48.5,-10.9,78,508,0.00,2.58,0.00,0.000,6,0.000,0.077,2623,1795,3664,0,0,0,0,0,0
$GC,576,-1.08,-146.6,56.8,-10.7,91,582,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,1796,3664,0,0,0,0,0,0
$GC,714,-1.08,-146.6,71.4,-10.8,116,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,1796,3664,0,0,0,0,0,0
$GC,856,-1.08,-146.6,87.1,-11.9,141,863,0.00,2.65,0.00,0.000,4,0.000,0.099,2623,385,3671,0,0,0,0,0,0
$GC,905,-1.08,-146.6,93.2,-13.0,149,912,0.00,2.58,0.00,0.000,6,0.000,0.073,2623,1803,3664,0,0,0,0,0,0
$GC,1048,-1.08,-146.6,110.5,-11.8,174,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1805,3664,0,0,0,0,0,0
$GC,1192,-1.08,-146.6,126.7,-10.2,199,1199,0.00,2.65,0.00,0.000,4,0.000,0.096,2622,389,3664,0,0,0,0,0,0
$GC,1229,-1.08,-146.6,130.7,-11.2,205,1235,0.00,2.55,0.00,0.000,6,0.000,0.067,2622,1799,3664,0,0,0,0,0,0
$GC,1372,-1.08,-146.6,144.5,-8.9,230,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1800,3664,0,0,0,0,0,0
$GC,1515,-1.08,-146.6,157.6,-9.3,255,1522,0.00,2.67,0.00,0.000,4,0.000,0.090,2623,384,3671,0,0,1,0,0,0
$GC,1530,-1.08,-146.6,159.1,-8.9,257,1537,0.00,2.55,0.00,0.000,6,0.000,0.069,2622,1793,3664,0,0,0,0,0,0
$GC,1674,-1.08,-146.6,173.1,-10.5,282,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,1794,3664,0,0,0,0,0,0
$STATE,1688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1688,begin apogee
$GC,1693,-0.17,0.0,174.8,10.7,284,1821,0.98,0.00,118.03,0.783,6,0.111,0.000,2817,1742,3061,0,0,0,0,0,0
$STATE,1822,end apogee,CONTROL_FINISHED_OK
$STATE,1822,begin climb
$GC,1824,0.76,146.6,179.5,0.0,303,1955,0.98,0.00,119.65,0.776,6,0.088,0.000,3018,1742,2463,0,0,0,0,0,0
$GC,2090,1.02,237.6,168.9,5.8,346,2180,0.28,2.78,76.65,0.760,4,0.083,0.094,3080,347,2090,0,0,0,0,0,0
$GC,2232,1.08,237.6,155.6,10.1,368,2240,0.00,2.58,0.00,0.000,6,0.000,0.066,3080,1750,2087,0,0,1,0,0,0
$GC,2377,1.24,299.3,142.9,7.2,393,2438,0.22,2.67,52.47,0.730,4,0.090,0.079,3127,3160,1839,0,0,0,0,0,0
$GC,2474,1.32,299.3,132.1,10.7,408,2482,0.00,2.65,0.00,0.000,6,0.000,0.073,3127,1751,1836,0,0,1,0,0,0
$GC,2621,1.38,299.3,115.5,13.3,433,2627,0.15,0.00,0.00,0.000,6,0.107,0.000,3156,1750,1834,0,0,0,0,0,0
$GC,2762,1.38,299.3,96.8,13.9,458,2771,0.00,2.75,0.00,0.000,4,0.000,0.096,3156,341,1833,0,0,0,0,0,0
$GC,2807,1.38,299.3,90.8,13.7,465,2814,0.00,2.58,0.00,0.000,6,0.000,0.076,3156,1761,1832,0,0,1,0,0,0
$GC,2949,1.38,299.3,73.8,12.3,490,2957,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1762,1832,0,0,0,0,0,0
$GC,3093,1.38,299.3,55.1,12.4,515,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1762,1831,0,0,0,0,0,0
$GC,3228,1.43,299.3,37.0,13.3,540,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1762,1831,0,0,0,0,0,0
$GC,3302,1.49,299.3,27.8,12.2,553,3311,0.12,2.60,0.00,0.000,4,0.112,0.081,3181,3153,1830,0,0,0,0,0,0
$GC,3377,1.49,299.3,19.0,12.4,566,3385,0.00,2.62,0.00,0.000,6,0.000,0.083,3181,1749,1829,0,0,1,0,0,0
$GC,3451,1.49,299.3,10.3,11.2,579,3459,0.00,2.72,0.00,0.000,4,0.000,0.096,3181,342,1829,0,0,0,0,0,0
$STATE,3517,end climb,SURFACE_DEPTH_REACHED
$STATE,3517,begin surface coast
$FINISH,0.2,1.012747
$STATE,3533,end surface coast,CONTROL_FINISHED_OK
$STATE,3534,begin surface
$SM_CCo,3558,56.00,0.569,1,0,1430,400.08
$SM_GC,0.94,0.00,0.00,56.00,0.000,0.000,0.569,408,1800,1430,-11.27,0.00,400.08
$RAFOS_CLK,179
$RAFOS,4,1302640035,20.469999,20.454166,46,42,42,0,0,0,1302,292,1552,0,0,0
$RAFOS,3,1302638233,19.969999,19.953611,40,39,39,0,0,0,975,229,270,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4729.30,-12222.38,120411,181831
$TT8_MAMPS,0.02247
$HUMID,19.20
$INTERNAL_PRESSURE,9.1352
$TCM_TEMP,14.80
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,135.4,53.5
$24V_AH,23.6,0.647
$10V_AH,10.4,0.346
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,29.525,58.200,366.800,56.000,0.000,31.179,30.115,258.902,7.750,0.000,12.859,1373.383,339.069,538.176,1668.353,166.383,32.320,1137.470,0.000,1347.994,600.000,22.594,0.000
$DEVICE_MAMPS,182.070,119.340,783.360,569.160,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,409.594,381.379,952.513,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322180
$DATA_FILE_SIZE,33703,594
$CAP_FILE_SIZE,76143,0
$CFSIZE,260165632,191418368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$SOUNDSPEED,1476.2
$CURRENT,0.156, 26.4,1
$GPS,120411,211256,4743.976,-12224.907,12,1.9,12,18.2